Multi-position lower limb rehabilitation training robot

Abstract

The invention belongs to the field of rehabilitation medical equipment and in particular relates to a multi-position lower limb rehabilitation training robot. The robot comprises a supporting mechanism, a patient fixing system, a lower limber training device and a control system. The lower limber training mechanism utilizes a neutral equilibrium principle, and can be conveniently converted into an outer dynamic-free training mode in a flat-lying state; a patient weight loss and fixation form of connecting the upper body of a patient and a sliding flat plate is adopted; a sole air bag training mechanism is light and flexible, and the patient can achieve a better training effect under the prompt of a lower limber vibration feedback module; exoskeleton lower limber rehabilitation equipment which can realize neutral equilibrium, a flat plate type fixed weight loss system and functional modules such as the vibration feedback module and the like are integrated to form the system, and the neutral equilibrium, the flat plate with an adjustable distance, and the more intuitive vibration feedback characteristic are fully utilized to realize the functions of the multi-position lower limb rehabilitation training robot in an active control mode, a passive control mode, an impedance control model and the like.

Description

technical field [0001] The invention belongs to the field of rehabilitation medical equipment, and in particular relates to a multi-position posture lower limb rehabilitation training robot. Background technique [0002] Patients with cerebrovascular diseases such as stroke and central nervous system injuries such as brain or spinal injuries have a high disability rate, mainly including sequelae, acute neurological paralysis, etc., and have varying degrees of loss of living ability and working ability. In fact, given timely rehabilitation treatment to such patients, patients can recover most of their motor functions. Neurorehabilitation robots are therapeutic robots that replace traditional medical practitioners in rehabilitation care based on rehabilitation medicine. At present, patients with cerebrovascular diseases such as stroke and central nervous system injuries such as brain or spinal injuries are usually treated with one-on-one therapists, which is inefficient and i...

AI Technical Summary

Problems solved by technology

At present, patients with cerebrovascular diseases such as stroke and central nervous system injuries such as brain or spinal injuries are usually treated with one-on-one therapists, which is inefficient and intensive.

At present, most of the existing lower limb rehabilitation robots adopt a suspended weight-reducing walking structure, and the disadvantages are: 1. It is only suitable for patients with walking ability in the late stage of rehabilitation, and does not pay enough attention to patients in the early stage of rehabilitation; 2. Due to the limitations of the bone structure, the knee joint motor needs to be connected to the arm of the lower limb, which places a large burden on the hip joint motor and limits the flexibility of the exoskeleton;

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